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EP4098094A3 - Automatic traveling method, automatic traveling system, and automatic traveling program - Google Patents

Automatic traveling method, automatic traveling system, and automatic traveling program Download PDF

Info

Publication number
EP4098094A3
EP4098094A3 EP22174750.4A EP22174750A EP4098094A3 EP 4098094 A3 EP4098094 A3 EP 4098094A3 EP 22174750 A EP22174750 A EP 22174750A EP 4098094 A3 EP4098094 A3 EP 4098094A3
Authority
EP
European Patent Office
Prior art keywords
work vehicle
automatic traveling
travel
travel mode
automatic
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP22174750.4A
Other languages
German (de)
French (fr)
Other versions
EP4098094A2 (en
Inventor
Akihiro Suzuki
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yanmar Holdings Co Ltd
Original Assignee
Yanmar Holdings Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Yanmar Holdings Co Ltd filed Critical Yanmar Holdings Co Ltd
Publication of EP4098094A2 publication Critical patent/EP4098094A2/en
Publication of EP4098094A3 publication Critical patent/EP4098094A3/en
Pending legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • A01B69/007—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
    • A01B69/008—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow automatic
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/0089—Regulating or controlling systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS

Landscapes

  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Environmental Sciences (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Wood Science & Technology (AREA)
  • Soil Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Zoology (AREA)
  • Pest Control & Pesticides (AREA)
  • Insects & Arthropods (AREA)
  • Optics & Photonics (AREA)
  • Electromagnetism (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Guiding Agricultural Machines (AREA)

Abstract

[Problem] To provide an automatic traveling method, an automatic traveling system, and an automatic traveling program, by which it is possible to move a work vehicle from a stop location when the work vehicle automatically traveling in a travel region stops automatic travel during a work.[SOLUTION] An automatic traveling method includes causing a work vehicle 10 to travel in a target route travel mode M1 in which the work vehicle 10 automatically travels according to a target route R previously set, based on positioning information of the work vehicle 10, in a farm field F, switching, if a positioning accuracy of the work vehicle 10 is less than a predetermined accuracy, a travel mode from the target route travel mode M1 to a crop row route travel mode M2 in which the work vehicle 10 travels according to a position of crops V arranged within the farm field F to cause the work vehicle 10 to travel, and causing the work vehicle 10 to travel to an end point of a crop row route R0 set according to the position of the crops V in the crop row route travel mode M2.
EP22174750.4A 2021-05-31 2022-05-23 Automatic traveling method, automatic traveling system, and automatic traveling program Pending EP4098094A3 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2021091524A JP7726674B2 (en) 2021-05-31 2021-05-31 Autonomous driving method, automatic driving system, and automatic driving program

Publications (2)

Publication Number Publication Date
EP4098094A2 EP4098094A2 (en) 2022-12-07
EP4098094A3 true EP4098094A3 (en) 2022-12-21

Family

ID=81841871

Family Applications (1)

Application Number Title Priority Date Filing Date
EP22174750.4A Pending EP4098094A3 (en) 2021-05-31 2022-05-23 Automatic traveling method, automatic traveling system, and automatic traveling program

Country Status (2)

Country Link
EP (1) EP4098094A3 (en)
JP (2) JP7726674B2 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2025008774A (en) * 2023-07-06 2025-01-20 ヤンマーホールディングス株式会社 Driving control method, driving control program, and driving control system

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8649930B2 (en) * 2009-09-17 2014-02-11 Agjunction Llc GNSS integrated multi-sensor control system and method
JP2018200611A (en) * 2017-05-29 2018-12-20 ヤンマー株式会社 Autonomous travel system
WO2020026651A1 (en) * 2018-08-01 2020-02-06 株式会社クボタ Harvesting machine, travel system, travel method, travel program, and storage medium
WO2020174887A1 (en) * 2019-02-26 2020-09-03 ヤンマー株式会社 Work vehicle
WO2020205781A1 (en) * 2019-03-29 2020-10-08 Birger Iftach Methods and systems for detection of false positives in detection of agricultural spraying errors
JP2020187669A (en) * 2019-05-17 2020-11-19 ヤンマーパワーテクノロジー株式会社 Autonomous driving system

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05137490A (en) * 1991-11-18 1993-06-01 Yanmar Agricult Equip Co Ltd Self-propelled chemical sprayer
JP2567179Y2 (en) * 1991-11-27 1998-03-30 ヤンマー農機株式会社 Remote control device for autonomous vehicles
KR20220164087A (en) 2014-02-06 2022-12-12 얀마 파워 테크놀로지 가부시키가이샤 Parallel travel work system
JP2016024540A (en) * 2014-07-17 2016-02-08 株式会社クボタ Traveling work machine and automatic steering system used therefor
JP6989886B2 (en) * 2016-12-22 2022-01-12 株式会社クボタ Work platform
JP6937677B2 (en) * 2017-12-07 2021-09-22 株式会社クボタ Harvester
JP7034799B2 (en) * 2018-03-29 2022-03-14 株式会社クボタ Work platform
JP7096531B2 (en) * 2018-12-27 2022-07-06 井関農機株式会社 Autonomous driving system for work vehicles
JP7334466B2 (en) * 2019-05-16 2023-08-29 村田機械株式会社 running car
JP7161976B2 (en) * 2019-06-20 2022-10-27 ヤンマーパワーテクノロジー株式会社 Automated driving system for work vehicles

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8649930B2 (en) * 2009-09-17 2014-02-11 Agjunction Llc GNSS integrated multi-sensor control system and method
JP2018200611A (en) * 2017-05-29 2018-12-20 ヤンマー株式会社 Autonomous travel system
WO2020026651A1 (en) * 2018-08-01 2020-02-06 株式会社クボタ Harvesting machine, travel system, travel method, travel program, and storage medium
WO2020174887A1 (en) * 2019-02-26 2020-09-03 ヤンマー株式会社 Work vehicle
WO2020205781A1 (en) * 2019-03-29 2020-10-08 Birger Iftach Methods and systems for detection of false positives in detection of agricultural spraying errors
JP2020187669A (en) * 2019-05-17 2020-11-19 ヤンマーパワーテクノロジー株式会社 Autonomous driving system

Also Published As

Publication number Publication date
JP2022183958A (en) 2022-12-13
JP7726674B2 (en) 2025-08-20
JP2025159054A (en) 2025-10-17
EP4098094A2 (en) 2022-12-07

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